/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_
#define CARTOGRAPHER_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_

#include <map>
#include <unordered_map>

#include "cartographer/common/histogram.h"
#include "cartographer/common/port.h"

namespace cartographer {
namespace sensor {

class SensorPacketPeriodHistogramBuilder {
 public:
  void Add(int trajectory_id, int64 timestamp, const string& frame_id);
  void LogHistogramsAndClear();

 private:
  using Key = std::pair<int, string>;

  std::map<Key, int64> last_timestamps_;
  std::unordered_map<int, std::unordered_map<string, common::BucketHistogram>>
      histograms_;
};

}  // namespace sensor
}  // namespace cartographer

#endif  // CARTOGRAPHER_SENSOR_SENSOR_PACKET_PERIOD_HISTOGRAM_BUILDER_H_
